This paper will address two issues associated with the implementation of a hydraulically powered dissimilar muster-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schill...

The new generation of industrial robots will have more flexibility in task implementation thanks to the advances in developing highly modular and reconfigurable manipulators. To achieve the full flexibility of such robots, in addition to the mechanical flexibility, it is necessary to achieve the flexibility in control. Precise automatic calibration of these manipulators is essential preconditio...

This chapter focuses on the mobility analysis of spatial parallel manipulators. It first develops an analytical methodology to investigate the instantaneous degree of freedom (DOF) of the end-effector of a parallel manipulator. And then, the instantaneous controllability of the end-effector is discussed from the viewpoint of the possible actuation schemes which will be especially useful for the...

Parallel manipulators are robotic devices that differ from the more traditional serial robotic manipulators by their kinematic structure. Parallel manipulators are composed of multiple closed kinematic loops. Typically, these kinematic loops are formed by two or more kinematic chains that connect a moving platform to a base, where one joint in the chain is actuated and the other joints are pass...

Abstract The length of flexible manipulators with a telescopic arm alters during movement. dynamic parameters exhibit significant time-varying characteristics owing to variations in length. With an increase the manipulators’ length, nonlinear terms caused by flexibility equations cannot be ignored. and cause fluctuations rotation angles, which affect operation accuracy end-effectors. In this st...

We introduce the notion of Distance Restricted Manipulation, where colluding manipulator(s) need to compute if there exist votes which make their preferred alternative win election when knowledge about others' is a little inaccurate. use Kendall-Tau distance model manipulators' confidence in non-manipulators' votes. To this end, we study problem two settings - one manipulators manipulating vote...

The purpose of this study is to determine the number and detect companies that commit fraud so can be categorized as manipulators, non-manipulators gray companies. This research uses quantitative with descriptive approach. object used in a Manufacturing Company listed on Indonesia Stock Exchange (IDX) 2016-2019. sample was taken using purposive sampling technique. analyzes data eight types fina...

Parallel robot manipulators comprise a mobile platform connected to a fixed base through three or more articulated links and are used extensively throughout industry for such diverse applications as high-precision positioning systems, fiber alignment, welding, robotic manipulators, automatic inspection systems, and so forth. Therefore, planning a trajectory to perform a specific task is one of ...

The regulation of end–effector pose of manipulators is addressed in this paper. Regarding nonredundant manipulators, we present an extension of transpose Jacobian–based regulators obtained by energy shaping, where orientation is represented by unit quaternion. Copyright © 2002 IFAC